Abstract class defining an interface to interact with an Engine with data exchange via protobuf messages. More...

#include <engine_proto_wrapper.h>

Inheritance diagram for EngineProtoWrapper:

Public Types
using	mutex_t = std::timed_mutex

using	lock_t = std::unique_lock< EngineProtoWrapper::mutex_t >

Public Member Functions
	EngineProtoWrapper ()=delete
	No dummy wrappers, only those with name. More...

	EngineProtoWrapper (const std::string &engineName, const std::string &protobufPluginsPath, const nlohmann::json &protobufPlugins)
	Constructor. More...

virtual	~EngineProtoWrapper ()=default
	Destructor. More...

void	registerDataPack (const std::string &datapackName, ProtoDataPackController *interface)
	Registers a datapack controller with the given name in the engine. More...

unsigned	getNumRegisteredDataPacks ()

std::vector< std::string >	getNamesRegisteredDataPacks ()
	Get the names of registered datapacks. More...

const std::string &	getEngineName ()
	Get the Engine name. More...

virtual bool	initRunFlag () const =0
	Indicates if the simulation was initialized and is running. More...

virtual bool	shutdownFlag () const =0
	Indicates if shutdown was requested by the client. More...

virtual void	initialize (const nlohmann::json &data)=0
	Initializes the simulation. More...

virtual void	reset ()=0
	Resets the simulation. More...

virtual void	shutdown ()=0
	Shutdowns the simulation. More...

virtual SimulationTime	runLoopStep (const SimulationTime timeStep)=0
	Runs a single simulation loop step. More...

void	setDataPacks (const EngineGrpc::SetDataPacksRequest &data)

void	setDataPack (const EngineGrpc::DataPackMessage &dataPack)

std::unique_ptr< gpb::Message >	unpackFromAny (const gpb::Any &data)

virtual void	getDataPacks (const EngineGrpc::GetDataPacksRequest &request, EngineGrpc::GetDataPacksReply *reply)

bool	getDataPack (const std::string &name, EngineGrpc::DataPackMessage *dpMsg)

void	setDataPackMessageData (gpb::Message data, EngineGrpc::DataPackMessage dpMsg)

Protected Member Functions
void	clearRegisteredDataPacks ()

ProtoDataPackController *	getDataPackController (const std::string &datapackName)
	Returns the pointer to the DataPackController of the Data Pack with the specified name. More...

Protected Attributes
bool	_handleDataPackMessage = false
	If true controllers are sent incoming DataPackMessages, if false only the contained data. More...

std::vector< std::unique_ptr< protobuf_ops::NRPProtobufOpsIface > >	_protoOps

std::string	_protoOpsStr = ""

Detailed Description

Abstract class defining an interface to interact with an Engine with data exchange via protobuf messages.

Derived classes are responsible for implementing simulation initialization, shutdown and run step methods.

Member Typedef Documentation

◆ lock_t

using EngineProtoWrapper::lock_t = std::unique_lock<EngineProtoWrapper::mutex_t>

◆ mutex_t

using EngineProtoWrapper::mutex_t = std::timed_mutex

Constructor & Destructor Documentation

◆ EngineProtoWrapper() [1/2]

EngineProtoWrapper::EngineProtoWrapper ( )

delete

No dummy wrappers, only those with name.

◆ EngineProtoWrapper() [2/2]

EngineProtoWrapper::EngineProtoWrapper	(	const std::string &	engineName,
		const std::string &	protobufPluginsPath,
		const nlohmann::json &	protobufPlugins
	)

inline

Constructor.

Parameters

[in] engineName Name of the simulation engine

◆ ~EngineProtoWrapper()

virtual EngineProtoWrapper::~EngineProtoWrapper ( )

virtualdefault

Destructor.

Member Function Documentation

◆ clearRegisteredDataPacks()

void EngineProtoWrapper::clearRegisteredDataPacks ( )

inlineprotected

◆ getDataPack()

bool EngineProtoWrapper::getDataPack	(	const std::string &	name,
		EngineGrpc::DataPackMessage *	dpMsg
	)

inline

◆ getDataPackController()

ProtoDataPackController* EngineProtoWrapper::getDataPackController ( const std::string & datapackName )

inlineprotected

Returns the pointer to the DataPackController of the Data Pack with the specified name.

◆ getDataPacks()

virtual void EngineProtoWrapper::getDataPacks	(	const EngineGrpc::GetDataPacksRequest &	request,
		EngineGrpc::GetDataPacksReply *	reply
	)

inlinevirtual

◆ getEngineName()

const std::string& EngineProtoWrapper::getEngineName ( )

inline

Get the Engine name.

◆ getNamesRegisteredDataPacks()

std::vector<std::string> EngineProtoWrapper::getNamesRegisteredDataPacks ( )

inline

Get the names of registered datapacks.

◆ getNumRegisteredDataPacks()

unsigned EngineProtoWrapper::getNumRegisteredDataPacks ( )

inline

◆ initialize()

virtual void EngineProtoWrapper::initialize ( const nlohmann::json & data )

pure virtual

Initializes the simulation.

Parameters

[in]	data	Simulation configuration data
[in]	datapackLock	???

Implemented in NRPGazeboCommunicationController.

◆ initRunFlag()

virtual bool EngineProtoWrapper::initRunFlag ( ) const

pure virtual

Indicates if the simulation was initialized and is running.

Implemented in NRPGazeboCommunicationController.

◆ registerDataPack()

void EngineProtoWrapper::registerDataPack	(	const std::string &	datapackName,
		ProtoDataPackController *	interface
	)

inline

Registers a datapack controller with the given name in the engine.

Parameters

[in]	datapackName	Name of the datapack to be registered
[in]	datapackController	Pointer to the datapack controller object that's supposed to be registered in the engine

◆ reset()

virtual void EngineProtoWrapper::reset ( )

pure virtual

Resets the simulation.

Implemented in NRPGazeboCommunicationController.

◆ runLoopStep()

virtual SimulationTime EngineProtoWrapper::runLoopStep ( const SimulationTime timeStep )

pure virtual

Runs a single simulation loop step.

Parameters

[in] timeStep Time step by which the simulation should be advanced

Returns: Engine time after running the step

Implemented in NRPGazeboCommunicationController.

◆ setDataPack()

void EngineProtoWrapper::setDataPack ( const EngineGrpc::DataPackMessage & dataPack )

inline

◆ setDataPackMessageData()

void EngineProtoWrapper::setDataPackMessageData	(	gpb::Message *	data,
		EngineGrpc::DataPackMessage *	dpMsg
	)

inline

◆ setDataPacks()

void EngineProtoWrapper::setDataPacks ( const EngineGrpc::SetDataPacksRequest & data )

inline

◆ shutdown()

virtual void EngineProtoWrapper::shutdown ( )

pure virtual

Shutdowns the simulation.

Implemented in NRPGazeboCommunicationController.

◆ shutdownFlag()

virtual bool EngineProtoWrapper::shutdownFlag ( ) const

pure virtual

Indicates if shutdown was requested by the client.

Implemented in NRPGazeboCommunicationController.

◆ unpackFromAny()

std::unique_ptr<gpb::Message> EngineProtoWrapper::unpackFromAny ( const gpb::Any & data )

inline

Member Data Documentation

◆ _handleDataPackMessage

bool EngineProtoWrapper::_handleDataPackMessage = false

protected

If true controllers are sent incoming DataPackMessages, if false only the contained data.

◆ _protoOps

std::vector<std::unique_ptr<protobuf_ops::NRPProtobufOpsIface> > EngineProtoWrapper::_protoOps

protected

◆ _protoOpsStr

std::string EngineProtoWrapper::_protoOpsStr = ""

protected

The documentation for this class was generated from the following file:

nrp_engine_protocols/nrp_grpc_engine_protocol/nrp_grpc_engine_protocol/engine_server/engine_proto_wrapper.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ lock_t

◆ mutex_t

Constructor & Destructor Documentation

◆ EngineProtoWrapper() [1/2]

◆ EngineProtoWrapper() [2/2]

◆ ~EngineProtoWrapper()

Member Function Documentation

◆ clearRegisteredDataPacks()

◆ getDataPack()

◆ getDataPackController()

◆ getDataPacks()

◆ getEngineName()

◆ getNamesRegisteredDataPacks()

◆ getNumRegisteredDataPacks()

◆ initialize()

◆ initRunFlag()

◆ registerDataPack()

◆ reset()

◆ runLoopStep()

◆ setDataPack()

◆ setDataPackMessageData()

◆ setDataPacks()

◆ shutdown()

◆ shutdownFlag()

◆ unpackFromAny()

Member Data Documentation

◆ _handleDataPackMessage

◆ _protoOps

◆ _protoOpsStr